ArduCopter-3.2 beta testing

Warning #1: PX4/Pixhawk users upgrading from AC3.1.5 (or earlier) may need to re-do their compass and accelerometer calibration because AC3.2 also uses the backup compass and accels.  Pre-arm checks have been added to ensure this has been done.

Warning #2: on the APM2.x the logs must be downloaded using MAVlink instead of the terminal.

AC3.2-rc14 is now available for BetaTesters through the mission planner’s Beta Firmwares link.  The full release notes can be found in ReleaseNotes.txt and changes from -rc13 can be seen below.

     Feel free to raise issues found during testing on this discussion or in the new support section in the APM Forum.

     It’s a big release with “the onion” restructure and a bunch of new features (including these 57 closed items) so we need to re-test almost everything including all flight modes, all mission commands and all the new features.  Marco and I will be maintaining (and adding to) this testing list.  Issues reported will first be checked by Jonathan, Marco and I and then confirmed bugs/issues will be put on the github issues list (and then hopefully fixed).

     Thanks especially to the beta testers who put their copters at risk testing each release.  Enjoy!

Changes from 3.2-rc13
1) Safety Features:
     a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
2) Bug fixes:
    a) DCM-check to require one continuous second of bad heading before triggering LAND
    b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
    c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
    d) use primary GPS for LED status (instead of always using first GPS)

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    • Looks good. I am pretty sure it would look much better at the scene. Just can't imagine how strong the wind is through the video.

      Do you have a loiter video in calm weather?

      • Every once in a while I get to fly in calm winds, but Oklahoma is know for its winds.  Trad helis have a high wind tolerance.  Winds gusting to 30 knots don't seem to be a problem.

        I'll put up a calm wind vid next time I get one. 

        • Thank you Ray. I will be waiting for it...

  • 3.2rc14 on Octocopter X8, Pixhawk internal compass only, breezy conditions.
    Stab, AltHold, PosHold, Land, PosHold takeoff. Using EKF with no
    issues, performed 'as advertised'.
    Regards to Randy & all Devs.
  • Randy

    Just wondering if the issue about starting up on a moving / rocking boat is something that is on the horizon? Thx

    • Richard,

      I believe Randy stated several posts ago that it will be on his version 3.3 to-do list.

      • I didn't think it was even possible. But if Randy says so, then I there is hope for sure...

        I will look for this... 

        • Developer


          I've talked with Paul Riseborough who is our EKF expert and the idea is that we make the gyro calibration very long.  Perhaps many seconds long to allow the boat to do several rocks back and forth.  The length of the calibration might be set by a parameter or perhaps we could ask the EKF itself if it's "variances" are small enough that we can assume that all the sensor data and offsets are consistent.

          • What about an audible [ and LED flashing ] warning, upon trying to arm, indicating the craft thinks it's not level? So you would know there is a problem if you are in fact starting out level yet it’s complaining it’s not? I’d prefer a fix but this could at least avoid the uncertainty until there is one. I ended up arming then throttling up a bit while I hold it. It would be pretty obvious at that point if it was way off. Not a very safe or pragmatic solution though. I can see the param now,,,  Dummy_on_boat_with_$3000_Flying_electronics   1 yes 0 no ;]

            • Surely the answer is always "yes" :) .... And yes, the audible or led would be a good addition. Okay, okay, I can hear it now to the tune of the love boat theme. 

This reply was deleted.


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